DK2314414T3 - A magazine for temporary storage of workpieces - Google Patents

A magazine for temporary storage of workpieces Download PDF

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Publication number
DK2314414T3
DK2314414T3 DK10013585.4T DK10013585T DK2314414T3 DK 2314414 T3 DK2314414 T3 DK 2314414T3 DK 10013585 T DK10013585 T DK 10013585T DK 2314414 T3 DK2314414 T3 DK 2314414T3
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DK
Denmark
Prior art keywords
workpieces
magazine
pattern
aforementioned
picks
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Application number
DK10013585.4T
Other languages
Danish (da)
Inventor
Roovere Helmut De
Ceuster Luc Marcel Joseph De
Original Assignee
Robojob Bv
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Publication date
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Publication of DK2314414T3 publication Critical patent/DK2314414T3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/10—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines

Description

DESCRIPTION
[0001] The present invention relates to a magazine for the temporary storage of workpieces, more specifically for the temporary storage of these workpieces for supply and/or removal by a robot.
[0002] Such magazines are common for workpieces that have to undergo a certain process or machining by a tool, where a robot is often used to supply the workpieces to be processed from the magazine.
[0003] Similarly such magazines are also used for the removal of processed workpieces by the same or another robot.
[0004] Such magazines are already known in the form of a grid plate onto which the workpieces are placed at the nodes of a fixed grid arranged beforehand, where the coordinates of the nodes are known by the robot control that has to supply or remove the workpieces.
[0005] Such a robot is generally equipped with a gripper with radially movable claws with which the workpieces can be held at the top around their circumference.
[0006] The grid plate is used for workpieces with different dimensions, for example disk-shaped workpieces with different diameters. For this reason the nodes of the grid must be sufficiently far apart in order to allow enough room to position workpieces of a larger diameter so that there is sufficient space between them to position the claws on the grid.
[0007] This means that the available storage area of the grid is not fully utilised for workpieces with a smaller diameter, and consequently such a magazine will take up a relatively large storage space that is determined by the workpieces with the largest dimensions and this storage space is thus not fully utilised with smaller workpieces.
[0008] Moreover, the number of workpieces to be held is determined by the number of nodes, which is fixed, such that smaller or larger series of workpieces to be handled cannot be dealt with very efficiently.
[0009] This is generally solved by exchanging the grid plate and thus different grid plates are needed for efficient space utilisation.
[0010] Moreover, the workpieces are supplied manually and it generally takes a lot of time to put the workpieces in the right position for which the coordinates are known by the robot control.
[0011] In addition, the workpieces are loose on the grid plate such that there is a risk that these workpieces can be accidentally moved with respect to the position known by the robot, such that errors can occur and the workpieces and the robot can be damaged.
[0012] Such magazines can also have pegs between which the workpieces are positioned or clasped on the grid.
[0013] The disadvantage of this is that the workpieces may be damaged by the clasping force of the pegs, which is always detrimental to the dimensional stability of the finished workpieces.
[0014] In addition, additional mechanics and extra setup time are required to set up the pegs centrically around the workpiece diameter in question.
[0015] Other magazines are known in which every workpiece is held on to a table by a bracket, which makes such magazines complex and expensive.
[0016] Other types of magazines are also known (US 2003/0132178) in the form of a sloping channel with an end wall at the lowest end. The workpieces are stacked in the channel in a continuous row and thereby slide downwards to the lowest workpiece held against the end wall. The lowest workpieces resting against the end wall are pushed upwards out of the channel from underneath one by one by a peg through an opening in the channel to be further processed. Each time, the other workpieces slide further downwards and the next lowest workpiece is then pushed upwards out of the channel according to a recurring cycle.
[0017] A disadvantage is that the width of the channel must be adapted to the width of the workpieces to be handled. Therefore this type of magazine is mainly used in production lines for handling large series of identical workpieces, as such magazines cannot be easily adjusted to handle smaller series of workpieces with different dimensions.
[0018] Another disadvantage is that the workpieces can only be stacked in one layer.
[0019] Another disadvantage is that such a magazine is not suitable for handling workpieces that can be stacked into one another, which is indeed a disadvantage of many other types of magazines.
[0020] The purpose of the present invention is to provide a simple solution to at least one of the aforementioned and other disadvantages.
[0021] To this end the invention relates to a magazine according to claim 1 and to a method according to claim 17.
[0022] An advantage of a magazine according to the invention is that the workpieces can be positioned in the positions known by the robot without much effort by an operator, as, due to the sloping position of the table in the direction of the supports, the operator will almost instinctively place the workpieces in the direction of the supports and these supports are of such a nature that the workpieces are automatically aligned to the positions known by the robot by this movement.
[0023] Therefore, mistakes in the positioning of the workpieces at the positions known by the robot or accidental movements after positioning the workpieces are as good as ruled out.
[0024] Because the supports can be moved in the XY plane of the sloping table according to the shape and dimensions of the workpieces to be handled, the supports can be positioned such that the available area of the table is utilised to a maximum, and a larger number of workpieces of a small size can be held than is the case for workpieces of a larger size.
[0025] This thus enables a flexible response to small series of workpieces with mutually different dimensions.
[0026] Because the workpieces are at a distance from one another, there is sufficient space around the workpieces for a robot gripper or other tool to pick up the workpieces.
[0027] Preferably the angle of incline of the table is such that the workpieces only slide on the table in the direction of the supports under the influence of their own weight, such that the correct positioning of the workpieces against the supports is even easier.
[0028] According to a practical embodiment, the table has a pattern of holes and the supports are formed by pegs that extend through the holes of the hole pattern, whereby a length of these pegs protrudes above the table, and whereby these pegs are placed in the holes or left out of the holes according to the chosen positioning pattern, in positions with discrete distances between them that are selected according to the shape and dimensions of the workpieces to be held.
[0029] In this way it is easy to switch from one positioning pattern to another positioning pattern by simply moving or taking out pegs, or affixing extra ones, in order to utilise the space of the table to a maximum.
[0030] All pegs can also be placed at the bottom of the holder such that they do not protrude, and can then be driven up so that they protrude above the table according to the workpiece dimensions.
[0031] The workpieces can preferably be stacked on one another in a number of levels, whereby the preference is that the length by which the pegs protrude above the table is adjustable.
[0032] The pegs can thereby be adjusted with respect to the stack height, which can be realised in practice by positioning the table in the direction perpendicular to the table.
[0033] It is thereby possible to adjust the length between the top of the pegs and the top of the table to the height of the stack, and this length is preferably set such that the topmost workpieces of the stacks protrude above the pegs by a certain height, such that the topmost workpieces are clear over this height and consequently can be picked up without hindrance by a robot gripper or other tool.
[0034] As the workpieces are taken from the top, it is also possible to stack workpieces on top of one another that are partly stackable into one another.
[0035] According to the most preferable embodiment the pegs are mounted in a holder, that is placed under the table, in a way that they can be removed or extended, and the table can be moved with respect to the holder in a perpendicular direction to the top surface of the table, such that the length by which the pegs protrude above the table is variable according to the height of the stacks of the workpieces.
[0036] To better demonstrate the characteristics of the invention, a few preferred embodiments are described below, as an example without any limiting nature, of a magazine according to the invention, with reference to the accompanying drawings, in which:
Figure 1 shows schematically and in perspective an empty magazine according to the invention.
Figure 2 gives a side view according to the arrow F2 in figure 1.
Figure 3 gives a view as in figure 1, but where there is a layer of workpieces in the magazine.
Figure 4 and figure 5 show a top view and side view respectively according to the arrows F4 and F5 in figure 3.
Figure 6 gives the same view as in figure 5, but during use.
Figure 7 gives a view as in figure 3, but with workpieces of different dimensions.
Figure 8 gives a view as in figure 6, but where there are a number of layers of workpieces stacked on top of one another in the magazine.
Figure 9 gives a view as in figure 8 during the further use of the magazine with workpieces.
Figure 10 gives a top view as in figure 4, but with workpieces of a different shape and dimensions.
Figure 11 shows a cross-section according to the line XI-XI in figure 10.
Figure 12 shows a variant of a magazine according to the invention.
[0037] The magazine 1 according to the invention in figures 1 and 2 is primarily formed by a table 2 and by movable supports 3 that are formed in the example shown by pegs 4 that protrude above the table 2 by a certain length L and are oriented perpendicularly to the top surface 5 of the table 2.
[0038] In the example shown, the pegs 4 extend out through holes 6 in the table 2 and these pegs 4 are held by their lowest end in notches or holes 7 of a plate-shaped holder 8 that is placed under the table 2 and these pegs are removable.
[0039] The table 2 and the holder 8 are parallel to one another and are both sloping with an angle of incline A with respect to the horizontal direction, whereby the table 2 slopes down in the direction Y-Y of the pegs 4, in particular in the case of figure 1 it slopes down in the direction of a long edge 9 of the table 2, and this edge 9 extends in the direction X-X perpendicular to the aforementioned direction Y-Y'.
[0040] The holes 6 and holes 7 respectively in the table 2 and the holder 8 are aligned to a hole pattern that is the same in both cases, and which, in the example shown, is a grid pattern 10 with nodes 11 that are located on parallel lines 12 that extend in the X-X direction, whereby the nodes 11 are at a distance ΔΧ from one another in the X-X direction, and the lines 12 are located in the Y-Y direction at a distance ΔΥ from one another.
[0041] The use of a magazine according to the invention for temporarily storing workpieces 13 at a distance from one another is simple and is illustrated by figures 3 to 5.
[0042] The pegs 4 are inserted beforehand through the holes 6 in the table 2 according to a certain pattern and secured in the holes 7 of the holder 8.
[0043] The chosen hole pattern is a function of the shape and dimensions of the workpieces 13, which in this case are round disks with a diameter D that is larger than the double distance 2.AXbut smaller than the triple distance 3.Δχ.
[0044] In this case the pegs 4 are fitted in the holes 6 and 7 along the bottom line 12 of the grid 10, whereby a hole 6 is kept open between two successive pegs 4 every time, such that the pegs 4 are at the double distance 2.AXfrom one another.
[0045] As shown in figures 3 to 5, the workpieces 13 are placed on the table 2 by an operator and slid downwards in the Y-Y direction against the pegs 4.
[0046] Due to the angle of incline A of the table 2 this action is done almost intuitively by the operator. The angle of incline A can be such that the workpieces 13 automatically slide on the table 2 in the direction of the pegs 4 by their own weight.
[0047] Due to the fact that the pegs 4 are at a distance 2.ΔΧ from one another they form supports 3 that are such that the workpieces 13 automatically align themselves, in a downwards movement, to known positions that can be passed on to a robot.
[0048] In case of the disk-shaped workpieces 13 of figure 3, for each workpiece 13 a support 3 is formed by two pegs 4 that keep the workpiece 13 concerned in place at an aforementioned position known by the robot and prevent unwanted sliding of the workpiece.
[0049] The aforementioned known positions are for example determined by the position of the midpoint 14 of each workpiece 13, whereby this position can be easily calculated geometrically from the distance 2.ΔΧ between the two pegs 4 and the diameter D of the workpieces 13 and the diameter E of the pegs 4.
[0050] The calculated positions can be passed on to the robot control, which can then take the workpieces out of the magazine one by one, or put them in it or put them back, for example by means of a gripper 15 with fingers 16 with which a workpiece 13 can be held around the circumference as shown in figure 6, and can be moved in the Z-Z direction perpendicular to the top surface 5 of the table 2, as shown in figure 6.
[0051] To this end, it is desirable that the length L with which the pegs 4 protrude above the table 2 is less than the height H of the workpieces 13, such that the workpieces 13 protrude over a certain height B above the pegs 4 and are thus clear at the top to be clasped without hindrance by the gripper 15.
[0052] Optionally software can be provided to determine the position of the workpieces 13 concerned, on the basis of the shape and dimensions of the workpieces 13 to be held and the position pattern of the pegs 4 or supports 3, in order to enter this position into the robot control.
[0053] Figure 7 shows an alternative configuration for storing the workpieces 13 in the shape of round disks with a smaller diameter D, in particular a diameter D that is less than the distance ΔΧ between the holes 6.
[0054] In this case the pegs 4 are placed according to a pattern in which a peg is placed in all holes 6 and 7, such that a larger number of workpieces 13 can be held on the table 2 than in the case of the previous configuration, and the available space on the table 2 is thus utilised to a maximum.
[0055] Figure 8 shows an alternative magazine 1 according to the invention, in which a number of workpieces can be stacked on top of one another in a number of levels.
[0056] In this case the pegs 4 are longer, whereby the length L by which the pegs 4 protrude above the table is adjustable according to the stacked height of the workpieces.
[0057] The distance F between the table 2 and the holder 8 is thereby adjustable with a drive 17 for moving the holder 8 and/or the table 2 in the Z-Z' direction perpendicular to the top surface 5 of the table 2.
[0058] The use of this magazine 1 is simple and is illustrated in figures 8 and 9.
[0059] Figure 8 shows the starting situation where the workpieces 13 are stacked on one another against the pegs 4 in three layers.
[0060] The length L by which the pegs 4 protrude above the table 2 is set such that this length L is less than the total stack height S of the workpieces 13, such that the top workpiece 13 protrudes over a certain height B above the pegs 4.
[0061] The workpieces 13 of the top layer of workpieces 13 are taken away one by one by the robot gripper 15 in a way as already set out above in figures 1 to 6 for a magazine 1 with only one single layer of workpieces 13.
[0062] When the top layer has been removed, the table 2 is moved upwards, for example, in the direction Z-Z' with respect to the holder 8, and this over a distance that is equal to the height H of the workpieces 13.
[0063] As a result the next layer of workpieces 13 is now in the position as illustrated in figure 9, whereby the workpieces 13 protrude above the pegs 4 by a height B in a position that is known by the robot and from where the robot gripper 15 can pick up the workpieces 13.
[0064] The holes 6 in the table 2 can form a slide guide for the pegs 4 when the table 2 and/or the holder 8 moves to which end the diameter E of the pegs 4 preferably almost matches the diameter of these holes 6.
[0065] The aforementioned drive 17 can be made controllable to synchronise the movements of the drive 17 with the movements of the robot.
[0066] Figures 10 and 11 show that with a magazine 1 with an adjustable length L, workpieces that partly fit into one another when stacked can also be handled, and which can be taken out of the magazine 1 or put in it one by one and layer by layer in the Z-Z' direction by a robot gripper 15.
[0067] Figure 12 shows a magazine 1 that simultaneously acts as a magazine 1 for supplying workpieces 13 to undergo a process, and also acts as a magazine 11 in which the workpieces 1 can again be stored after the aforementioned process.
[0068] In this case the mutual movement between the table 2 and the holder 8 is equal to the total stack height S divided by the number of layers in the stack.
[0069] For workpieces with a more complex shape than those of the round disks described, it can be useful to provide two series of supports that extend in two different directions and for the table 2 to slope down to the first series of supports, and to the second series of supports.
[0070] It is clear that the supports 3 are not necessarily formed by pegs 4 that protrude upwards through the holes 6 in the table 2.
[0071] It is also clear that if the magazine 1 is equipped for only one layer of workpieces 13, the table 2 can also serve as a holder 8 as in that case no adjustment of the pegs 4 is required.
[0072] The present invention is not in any way limited to the embodiments described as an example and shown in the drawings, but a magazine according to the invention can be realised in all kinds of forms and dimensions, without acting outside the scope of the invention, as defined by the claims.
REFERENCES CITED IN THE DESCRIPTION
This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.
Patent documents cited in the description • US2003013217 8A /0016]

Claims (17)

11 1. Et magasin til midlertidig opbevaring af arbejdsstykker (13) til forsyning og/eller borttagelse af disse arbejdsstykker (13) ovenfra af en robot, hvori dette magasin (1) primært er formet af, på den ene side et bord (2) til opstabling af arbejdsstykkerne (13) i henhold til et ønsket placeringsmønster med en vis afstand fra hinanden, og på den anden side af en række flytbare stoppere (3), som kan placeres over bordet (2) i henhold til et ønsket placeringsmønster, hvorved bordet (2) får en nedadgående hældning i det mindste i (Y-Y') retningen af de førnævnte stoppere (3), mod hvilke arbejdsstykkerne (13) kan placeres til støtte for arbejdsstykkerne (13) i den ovenfor nævnte hældningsretning (Y-Y') for placering af dem og for at holde dem på plads i kendte positioner med en afstand fra hinanden i hældningsretningen (Y-Y') alt afhængig af stoppernes (3) position, som kan justeres i henhold til formen og dimensionerne af arbejdsstykkerne (13), som håndteres, og stopperne (3) er sådan, at arbejdsstykkerne (13) automatisk er på linje med de førnævnte ønskede positioner, når arbejdsstykkerne (13) flyttes mod stopperne (3) i hældningsretningen (Y-Y') af stopperne (3).A magazine for temporarily storing workpieces (13) for supplying and / or removing these workpieces (13) from above by a robot, in which this magazine (1) is primarily formed, on one side a table (2) for stacking the workpieces (13) according to a desired spacing pattern at a certain distance from one another, and on the other side of a series of movable stoppers (3) which can be placed over the table (2) according to a desired placement pattern, whereby the table (2) causes a downward slope at least in the (Y-Y ') direction of the aforementioned stops (3) against which the workpieces (13) can be positioned to support the workpieces (13) in the above-mentioned inclination direction (Y-Y') ') for positioning them and for holding them in known positions spaced apart in the inclination direction (Y-Y') depending on the position of the stops (3) which can be adjusted according to the shape and dimensions of the workpieces ( 13), which is handled, and stopped The chutes (3) are such that the workpieces (13) are automatically aligned with the aforementioned desired positions when the workpieces (13) are moved towards the stops (3) in the inclination direction (Y-Y ') of the stops (3). 2. Et magasin der ifølge krav 1 er kendetegnet ved, at vinklen på hældningen (A) af bordet (2) er sådan, at arbejdsstykkerne (13) på bordet (2) kun glider i retning af støtterne (3) ved hjælp af deres egen vægt.A magazine according to claim 1, characterized in that the angle of inclination (A) of the table (2) is such that the workpieces (13) of the table (2) slide only in the direction of the supports (3) by means of their own weight. 3. Et magasin der ifølge krav 1 og 2 er kendetegnet ved, at bordet (2) har et mønster af huller, og at støtterne (3) er formede af pløkker (4), der forlænges gennem hullerne (4) af hulmønsteret, hvorved disse pløkker (4) enten er indsat eller ikke-indsat i hullerne (6) i henhold til et valgt placeringsmønster med placeringer med diskret distance mellem dem (δ X, δ Y), som er valgt i henhold til formen og dimensioner af arbejdsstykkerne, der skal holdes.A magazine according to claims 1 and 2, characterized in that the table (2) has a pattern of holes and that the supports (3) are formed by pegs (4) which extend through the holes (4) of the hole pattern, whereby these pegs (4) are either inserted or not inserted into the holes (6) according to a selected placement pattern with discrete spaced locations (δ X, δ Y) selected according to the shape and dimensions of the workpieces; that must be kept. 4. Et magasin der ifølge krav 3 er kendetegnet ved, at det førnævnte mønster af huller (6) i bordet (2) strækker sig langs en linje (12) som er vinkelret på den førnævnte retning (Y-Y') af hældningen på bordet (2) til støtterne (3). 2A magazine according to claim 3, characterized in that the aforementioned pattern of holes (6) in the table (2) extends along a line (12) perpendicular to the aforementioned direction (Y-Y ') of the slope of the table (2) for the supports (3). 2 5. Et magasin der ifølge kravene 3 eller 4 er kendetegnet ved, at hulmønsteret er et gittermønster (10) med positioner der er placeret ved knuderne (11) af et gitter med parallelle linjer (12), som er vinkelrette på førnævnte retning (Y-Y') af hældningen på bordet (2) til støtterne af (3). 5A magazine according to claims 3 or 4, characterized in that the hole pattern is a grid pattern (10) with positions located at the nodes (11) of a grid with parallel lines (12) perpendicular to the aforementioned direction (Y -Y ') of the slope of the table (2) to the supports of (3). 5 6. Et magasin der ifølge et af kravene 3 til 5 er kendetegnet ved, at længden (L) med hvilken pløkkerne (4) stikker over bordet (2) er justerbar i henhold til stablingshøjden (S) af arbejdsstykkerne (13).A magazine according to one of claims 3 to 5, characterized in that the length (L) with which the picks (4) protrude above the table (2) is adjustable according to the stacking height (S) of the workpieces (13). 7. Et magasin der ifølge et af kravene 3 til 6 er kendetegnet ved, at længden (L) med hvilken pløkkerne (4) stikker over bordet (2) er indstillet sådan, at længden (L) er mindre end stablingshøjden (S) af arbejdsstykkerne (13), således at de øverste arbejdsstykker (13) stikker over en vis højde (B) over pløkkerne (4).A magazine according to one of claims 3 to 6, characterized in that the length (L) with which the picks (4) protrude over the table (2) is adjusted such that the length (L) is less than the stacking height (S) of the workpieces (13) so that the upper workpieces (13) protrude above a certain height (B) above the picks (4). 8. Et magasin der ifølge et af kravene 3 til 7 er kendetegnet ved, at pløkkerne (4) er vinkelrette på en øverste overflade (5) af bordet (2).A magazine according to one of claims 3 to 7, characterized in that the picks (4) are perpendicular to an upper surface (5) of the table (2). 9. Et magasin der ifølge et af kravene 3 til 8 er kendetegnet ved, at diameteren (E) af pløkkerne (4) næsten passer til diameteren af hullerne (6) i bordet (2). 20A magazine according to one of Claims 3 to 8, characterized in that the diameter (E) of the picks (4) almost matches the diameter of the holes (6) in the table (2). 20 10. Et magasin der ifølge kravene 3 til 9 er kendetegnet ved, at pløkkerne (4) er sikret med en holder (8), som er sat fast under bordet (2) og pløkkerne (4) kan ikke flyttes eller forlænges.A magazine according to claims 3 to 9, characterized in that the picks (4) are secured with a holder (8) which is fixed under the table (2) and the picks (4) cannot be moved or extended. 11. Et magasin der ifølge krav 10 er kendetegnet ved, at holderen (8) har udsnit eller huller (7), hvori pløkkerne (4) er aftageligt sikrede af deres laveste ende, hvorved udsnittene eller hullerne (7) er udstyret i henhold til et mønster, som svarer til det førnævnte hulmønster i bordet (2).A magazine according to claim 10, characterized in that the holder (8) has cut-outs or holes (7), in which the picks (4) are removably secured at their lowest end, whereby the cut-outs or holes (7) are equipped according to a pattern similar to the aforementioned hole pattern in the table (2). 12. Et magasin der ifølge krav 6 og krav 10 eller 11 er kendetegnet ved, at bordet (2) og holderen (8) er flytbare med hensyn til hinanden i en retning (2-2'), der er vinkelret på den øverste overflade (5) af bordet (2), og at længden (L) med hvilken pløkkerne (4) stikker over bordet (2) er justerbar grundet afstanden (F) 3 mellem bordet (2) og holderen (8) er justerbar ved hjælp af en drivkraft (17) til at flytte bordet (2) og/eller holderen (8).A magazine according to claim 6 and claim 10 or 11, characterized in that the table (2) and the holder (8) are movable with respect to each other in a direction (2-2 ') perpendicular to the upper surface. (5) of the table (2) and the length (L) with which the picks (4) protrude above the table (2) is adjustable due to the distance (F) 3 between the table (2) and the holder (8) is adjustable by means of a driving force (17) for moving the table (2) and / or the holder (8). 13. Et magasin der ifølge krav 12 er kendetegnet ved, at holderen (8) er sat 5 fast og at bordet (2) kan flyttes af den nævnte drivkraft (17).A magazine according to claim 12, characterized in that the holder (8) is fixed 5 and that the table (2) can be moved by said driving force (17). 14. Et magasin der ifølge krav 12 eller 13 er kendetegnet ved, at den førnævnte drivkraft (17) kan kontrolleres til at synkronisere drivkraftens (17) bevægelser med robottens bevægelser. 10A magazine according to claim 12 or 13, characterized in that the aforementioned driving force (17) can be controlled to synchronize the movements of the driving force (17) with the movements of the robot. 10 15. Et magasin der ifølge et af de foregående krav er kendetegnet ved, at det har en software til at bestemme placeringen af de pågældende arbejdsstykker (17) på grundlag af formen og dimensionerne af arbejdsstykkerne (13), der skal opbevares, og placeringsmønsteret, der bruges, og formen og dimensionerne af 15 støtterne (3), for at kunne indtage denne placering i robotkontrollen.A magazine according to one of the preceding claims, characterized in that it has a software for determining the position of the workpieces (17) on the basis of the shape and dimensions of the workpieces (13) to be stored, and the placement pattern, used, and the shape and dimensions of the 15 supports (3), in order to occupy this location in the robot control. 16. Et magasin der ifølge et af de foregående krav er kendetegnet ved, at det har to serier af støttere (3), der forlænges i to forskellige retninger, og at bordet hælder ned til den første serie af støttere (3) og til den anden serie af støttere (3). 20A magazine according to one of the preceding claims, characterized in that it has two series of supports (3) which are extended in two different directions and that the table slopes down to the first series of supports (3) and to it. second series of supporters (3). 20 17. Metode til midlertidig opbevaring af arbejdsstykker (13) i et magasin til forsyning og/eller borttagelse af disse arbejdsstykker (13) fra over magasinet af en robot, metoden omfatter disse trin: - levering af et magasin (1), der primært er formet af, på den ene side et bord (2) 25 til opstabling af arbejdsstykker (13) i henhold til et ønsket placeringsmønster med en afstand fra hinanden og på den anden side af en række flytbare stoppere (3), som kan placeres over bordet (2) i henhold til et ønsket placeringsmønster, hvorved bordet (2) hælder nedad i det mindste i (Y-Y') retningen af de førnævnte stoppere (3); 30 - placering af stopperne i henhold til det ønskede mønster, således at de kan støtte arbejdsstykkerne (13) i den ovenfor nævnte hældningsretning (Y-Y') for placering af dem og for at holde dem på plads i en kendt placering med afstand fra hinanden i hældningsretningen (Y-Y'); 4 - levering af arbejdsstykkerne (13) på bordet og flytning af dem i hældningsretningen (Y-Y') af stopperne (3) mod stopperne (3), hvorved stopperne (3) er sådan, at arbejdsstykkerne (13) automatisk er på linje med de førnævnte ønskede placeringer, når de flyttes under dette trin. 5Method of temporarily storing workpieces (13) in a magazine for supplying and / or removing these workpieces (13) from above the magazine of a robot, the method comprising these steps: - supplying a magazine (1) which is primarily formed by, on the one hand, a table (2) for stacking workpieces (13) according to a desired spacing pattern, spaced apart and, on the other, by a series of movable stoppers (3) which can be placed over the table (2) according to a desired placement pattern, wherein the table (2) slopes downward at least in the (Y-Y ') direction of the aforementioned stops (3); 30 - positioning the stops according to the desired pattern so that they can support the workpieces (13) in the above-mentioned inclination direction (Y-Y ') for positioning them and for holding them in a known location at a distance from each other in the inclination direction (Y-Y '); 4 - supplying the workpieces (13) to the table and moving them in the inclination direction (Y-Y ') of the stops (3) towards the stops (3), whereby the stops (3) are such that the workpieces (13) are automatically aligned with the aforementioned desired locations when moving during this step. 5
DK10013585.4T 2009-10-14 2010-10-13 A magazine for temporary storage of workpieces DK2314414T3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
BE2009/0628A BE1018956A3 (en) 2009-10-14 2009-10-14 WAREHOUSE FOR TEMPORARY STORAGE OF PARTS.

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DK2314414T3 true DK2314414T3 (en) 2016-04-18

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1025012B1 (en) 2017-02-28 2018-09-25 Robojob N.V. Stacking device
EP3708296A1 (en) * 2019-03-14 2020-09-16 Flender GmbH Workpiece holder and workpiece handling system with such a workpiece holder

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2649207A (en) * 1949-05-07 1953-08-18 Grand Union Company Display and delivery device
DE3444320C1 (en) * 1984-12-05 1986-02-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Flat magazine for storing and transporting parts, such as workpieces or tools
DE3630061A1 (en) * 1986-09-04 1988-03-10 Bloksma Gmbh Carrier plate for workpieces, work carriers or holders and the like
DE3733317A1 (en) * 1987-10-02 1989-04-13 Bloksma Metallwarenfabrik Gmbh Support plate used to deposit or place in readiness a multiplicity of workpieces
US6874646B2 (en) * 2002-01-14 2005-04-05 Display Technologies, Llc Depth-extendable display track unit

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Publication number Publication date
EP2314414A1 (en) 2011-04-27
EP2314414B1 (en) 2016-01-13
BE1018956A3 (en) 2011-11-08

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